US10814497B2 - Robot hand apparatus, robot hand system, and holding method - Google Patents

Robot hand apparatus, robot hand system, and holding method Download PDF

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Publication number
US10814497B2
US10814497B2 US16/038,208 US201816038208A US10814497B2 US 10814497 B2 US10814497 B2 US 10814497B2 US 201816038208 A US201816038208 A US 201816038208A US 10814497 B2 US10814497 B2 US 10814497B2
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Prior art keywords
magnetic
holder
robot hand
elastic body
sucking
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US20190030729A1 (en
Inventor
Takayuki Nagata
Yasunao Okazaki
Katsuhiko Asai
Kazuo Inoue
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Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. reassignment PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: OKAZAKI, YASUNAO, ASAI, KATSUHIKO, INOUE, KAZUO, NAGATA, TAKAYUKI
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F1/00—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties
    • H01F1/44—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of magnetic liquids, e.g. ferrofluids
    • H01F1/447—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of magnetic liquids, e.g. ferrofluids characterised by magnetoviscosity, e.g. magnetorheological, magnetothixotropic, magnetodilatant liquids
    • H01L41/06—
    • H01L41/12—
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N35/00—Magnetostrictive devices
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N35/00—Magnetostrictive devices
    • H10N35/80—Constructional details

Definitions

  • the present disclosure relates to a robot hand apparatus, a robot hand system, and a holding method.
  • a robot hand apparatus of a type that sucks an object using negative pressure is known as one of robot hand apparatuses that hold objects (see, for example, Japanese Unexamined Patent Application Publication No. 2001-267271 and No. 2013-240870).
  • the robot hand apparatus of this type includes a suction hand having a sucking surface formed with sucking holes.
  • the sucking surface of the suction hand can suck an object using negative pressure by sucking air through the sucking holes in a state in which the sucking surface of the suction hand touches a surface that can be sucked of the object (hereinafter, referred to as “sucked surface”).
  • a robot hand apparatus In some cases there is a need to pick up a specific product as an object with a robot hand apparatus from among products which are densely arranged in, for example, a warehouse of a store, without picking up a product other than the specific product. If the sucked surface of the object is smaller than the sucking surface of the suction hand, the target object and another product adjacent to the object are sucked together to the sucking surface of the suction hand. Thus, the target object and a product other than the specific product may be possibly picked up.
  • One non-limiting and exemplary embodiment provides a robot hand apparatus, a robot hand system, and a method of holding an object each capable of correctly picking up a target object.
  • the techniques disclosed here feature a robot hand apparatus including a supporter; a holder with a proximal end thereof supported by the supporter, the holder having a sucking surface that is bendable at any position and that sucks an object using negative pressure; a magnetic elastic body arranged at the holder and formed of an elastic material containing magnetic particles; and a magnetic-field generator that is arranged at the holder and that applies a magnetic field to the magnetic elastic body to change a coefficient of elasticity of the magnetic elastic body, in which, when the magnetic-field generator applies a magnetic field to the magnetic elastic body, a flexible portion and a hardened portion having a bigger coefficient of elasticity than a coefficient of elasticity of the flexible portion are formed in the magnetic elastic body, and in which, when the holder holds the object, in a state in which the sucking surface is bent at a position corresponding to the flexible portion, a region of the sucking surface between the position and a distal end of the holder sucks the object.
  • the general or specific aspects of the present disclosure may be implemented as a system, a method, an integrated circuit, a computer program, a computer-readable storage medium, or any selective combination thereof.
  • the computer-readable storage medium may include a non-volatile storage medium, for example, a compact disc-read only memory (CD-ROM).
  • CD-ROM compact disc-read only memory
  • FIG. 1 illustrates a configuration of a robot hand system according to a first embodiment
  • FIG. 2A is a block diagram illustrating a major functional configuration of the robot hand system according to the first embodiment
  • FIG. 2B is a block diagram illustrating a specific functional configuration of the robot hand system according to the first embodiment
  • FIG. 3 illustrates a robot hand apparatus in an enlarged manner according to the first embodiment
  • FIG. 4A illustrates a first sucking surface of a first holder (a second sucking surface of a second holder) of the robot hand apparatus according to the first embodiment
  • FIG. 4B is a cross-sectional view of the first holder (second holder) of the robot hand apparatus according to the first embodiment taken along line IVB-IVB of FIG. 4A ;
  • FIG. 4C illustrates a first magnetic-field generator of the first holder (a second magnetic-field generator of the second holder) of the robot hand apparatus according to the first embodiment
  • FIG. 5A schematically illustrates a first magnetic elastic body according to the first embodiment in a state before a magnetic field is applied
  • FIG. 5B schematically illustrates the first magnetic elastic body according to the first embodiment in a state in which a magnetic field is applied
  • FIG. 6A illustrates the first holder according to the first embodiment in a state in which the first holder is entirely hardened
  • FIG. 6B illustrates the first holder according to the first embodiment in a state in which the first holder is partly hardened
  • FIG. 7 is a flowchart showing a flow of operation of the robot hand system according to the first embodiment
  • FIG. 8 illustrates the flow of the operation of the robot hand system according to the first embodiment
  • FIG. 9A illustrates use example 1 of the robot hand system according to the first embodiment
  • FIG. 9B illustrates use example 2 of the robot hand system according to the first embodiment
  • FIG. 9C illustrates use example 3 of the robot hand system according to the first embodiment
  • FIG. 10 illustrates a first holder (second holder) of the robot hand apparatus according to the second embodiment
  • FIG. 11A illustrates a first holder according to a second embodiment in a state in which the first holder is entirely hardened
  • FIG. 11B illustrates the first holder according to the second embodiment in a state in which the first holder is partly hardened
  • FIG. 12 illustrates a robot hand apparatus according to a third embodiment
  • FIG. 13 is a flowchart showing a flow of operation of picking up an object by a robot hand system according to the third embodiment
  • FIG. 14 is a timing chart showing the flow of the operation of picking up the object by the robot hand system according to the third embodiment.
  • FIG. 15 illustrates the flow of the operation of picking up the object by the robot hand system according to the third embodiment.
  • a robot hand apparatus includes a supporter; a holder with a proximal end thereof supported by the supporter, the holder having a sucking surface that is bendable at any position and that sucks an object using negative pressure; a magnetic elastic body arranged at the holder and formed of an elastic material containing magnetic particles; and a magnetic-field generator that is arranged at the holder and that applies a magnetic field to the magnetic elastic body to change a coefficient of elasticity of the magnetic elastic body, in which, when the magnetic-field generator applies the magnetic field to the magnetic elastic body, a flexible portion and a hardened portion having a bigger coefficient of elasticity than a coefficient of elasticity of the flexible portion are formed in the magnetic elastic body; and in which, when the holder holds the object, in a state in which the sucking surface is bent at a position corresponding to the flexible portion, a region of the sucking surface between the position and a distal end of the holder sucks the object.
  • the size of the region of the sucking surface that sucks the object can be adjusted.
  • the distal end of the holder can be prevented from protruding from an end of the object, and, for example, a target object can be correctly picked up from among densely arranged products.
  • the sucking surface can be easily bent at the position corresponding to the flexible portion.
  • the distal end of the holder may be pressed to the object, and thus the sucking surface may be bent at the position.
  • the sucking surface can be bent at the position corresponding to the flexible portion.
  • a driving device such as an actuator that bends the first sucking surface is not required to be mounted on the robot hand apparatus, and the robot hand apparatus can be downsized.
  • the holder may extend long from the proximal end to the distal end; and the magnetic-field generator may be coils that are lined in a longitudinal direction of the holder, that are individually energized, and thus that individually apply magnetic fields to the magnetic elastic body.
  • the two specific coils when two specific coils of the coils are energized, the two specific coils may generate magnetic fields in which same magnetic poles oppose each other; and the flexible portion may be formed in the magnetic elastic body between the two specific coils.
  • the flexible portion can be formed in the magnetic elastic body between the two specific coils.
  • the magnetic-field generator may further have a permanent magnet that applies a magnetic field to the magnetic elastic body; the permanent magnet may be arranged to oppose the coils in the longitudinal direction of the holder; when a specific coil of the coils is energized, the specific coil and the permanent magnet may generate magnetic fields in which same magnetic poles oppose each other; and the flexible portion may be formed in the magnetic elastic body between the specific coil and the permanent magnet.
  • the flexible portion can be formed in the magnetic elastic body between the specific coil and the permanent magnet.
  • the sucking surface may have a sucking hole through which air is sucked; and when air is sucked through the sucking hole, the sucking surface may suck the object using negative pressure.
  • the holder can hold the object with the simple configuration.
  • the holder may include a pair of holders; and the pair of holders may be arranged such that sucking surfaces of the pair of holders oppose each other.
  • the object can be further stably held by the pair of holders.
  • a robot hand system includes any one of the aforementioned robot hand apparatuses; a robot arm apparatus that supports the robot hand apparatus and that changes a position or a posture of the robot hand apparatus; a pressure regulating device that sucks air from the holder of the robot hand apparatus; and a controller that controls the robot hand apparatus, the robot arm apparatus, and the pressure regulating device so that the robot hand apparatus holds the object.
  • the size of the region of the sucking surface that sucks the object can be adjusted.
  • the distal end of the holder can be prevented from protruding from an end of the object, and, for example, a target object can be correctly picked up from among densely arranged products.
  • the sucking surface can be easily bent at the position corresponding to the flexible portion.
  • the robot hand system may further include an imaging device that image captures the object, in which the controller may judge a sucked region that can be sucked of a sucked surface of the object on the basis of a result of the image capture by the imaging device, and determine a position of the flexible portion to be formed in the magnetic elastic body, and thus, in a state in which the sucking surface is bent at a position corresponding to the flexible portion, a region of the sucking surface between the position and the distal end of the holder may suck the object so as not to protrude from the sucked region.
  • the object can be further reliably held.
  • the robot hand apparatus includes a supporter, a holder with a proximal end thereof supported by the supporter, the holder having a sucking surface that is bendable at any position and that sucks an object using negative pressure, a magnetic elastic body arranged at the holder and formed of an elastic material containing magnetic particles, and a magnetic-field generator that is arranged at the holder and that applies a magnetic field to the magnetic elastic body to change a coefficient of elasticity of the magnetic elastic body.
  • the method includes applying a magnetic field to the magnetic elastic body, and thus forming a flexible portion and a hardened portion having a bigger coefficient of elasticity than a coefficient of elasticity of the flexible portion in the magnetic elastic body; pressing a distal end of the holder to the object, and thus bending the sucking surface at a position corresponding to the flexible portion; and causing a region of the sucking surface between the position and the distal end of the holder to suck the object.
  • the size of the region of the sucking surface that sucks the object can be adjusted.
  • the distal end of the holder can be prevented from protruding from the end of the object, and, for example, a target object can be correctly picked up from among densely arranged products.
  • the sucking surface can be easily bent at the position corresponding to the flexible portion.
  • the holding method may further include image capturing the object using an imaging device; judging a sucked region that is included in a sucked surface of the object and that can be sucked to the sucking surface of the holder on the basis of a result of the image capture by the imaging device; and determining a position of the flexible portion to be formed in the magnetic elastic body on the basis of a size of the sucked region.
  • the position of the flexible portion to be formed in the magnetic elastic body is determined on the basis of the size of the sucked region of the object.
  • FIG. 1 illustrates the configuration of the robot hand system 2 according to the first embodiment.
  • FIG. 2A is a block diagram illustrating a major functional configuration of the robot hand system 2 according to the first embodiment.
  • FIG. 2B is a block diagram illustrating a specific functional configuration of the robot hand system 2 according to the first embodiment.
  • FIG. 3 illustrates a robot hand apparatus 8 in an enlarged manner according to the first embodiment.
  • the robot hand system 2 is a system that picks up and conveying an object 4 .
  • the robot hand system 2 includes a robot arm apparatus 6 , the robot hand apparatus 8 , a tip camera 10 (an example of imaging device), a fixed camera 12 , a controller 14 , and a pressure regulating device 16 .
  • the object 4 is a product such as a package box having any of various shapes and sizes. As illustrated in FIG. 1 , products 20 are adjacently (densely) arranged on a palette 18 placed on a floor surface of, for example, a warehouse of a store. The object 4 is a product 20 which is a target to be picked up by the robot hand system 2 from among the products 20 .
  • the robot arm apparatus 6 is formed of, for example, an articulated coordinate robot.
  • the robot arm apparatus 6 changes the position or posture of the robot hand apparatus 8 with six degrees of freedom in a predetermined working area.
  • a hand mount 22 and a camera mount 24 are arranged at a distal end of the robot arm apparatus 6 .
  • the robot arm apparatus 6 is not limited to the articulated coordinate robot, and may be formed of another type of robot.
  • the robot hand apparatus 8 is mounted to the distal end (the hand mount 22 and the camera mount 24 ) of the robot arm apparatus 6 via a mounting flange 26 .
  • the robot hand apparatus 8 sucks, for example, one product 20 as the object 4 using negative pressure from among the products 20 .
  • the robot hand apparatus 8 can hold the target object 4 from among the products 20 .
  • the configuration of the robot hand apparatus 8 is described later in detail.
  • the tip camera 10 is mounted to the camera mount 24 of the robot arm apparatus 6 .
  • the tip camera 10 image captures the object 4 existing in front of the robot hand apparatus 8 .
  • FIG. 3 does not illustrate the tip camera 10 for the convenience of the description.
  • the fixed camera 12 is fixed to, for example, a ceiling of a room where the robot hand system 2 is installed.
  • the fixed camera 12 image captures the robot hand apparatus 8 , the object 4 existing in front of the robot hand apparatus 8 , and a conveyance destination (for example, storage shelf) of the object 4 .
  • the controller 14 has an integrated processor 28 , a robot controller 30 , and a hand controller 32 .
  • the integrated processor 28 a) transmits an operation command signal to the robot controller 30 , b) transmits an energization control signal to the hand controller 32 , and c) transmits a pressure control signal to the pressure regulating device 16 on the basis of image information from the tip camera 10 and the fixed camera 12 and sensor information from various sensors (not illustrated).
  • the robot controller 30 controls the operation of the robot arm apparatus 6 on the basis of the operation command signal from the integrated processor 28 .
  • the hand controller 32 controls the energization of a first magnetic-field generator 54 and a second magnetic-field generator 68 (described later) of the robot hand apparatus 8 independently from each other on the basis of the energization control signal from the integrated processor 28 .
  • the pressure regulating device 16 has a vacuum pump 34 and a valve 36 . As illustrated in FIGS. 1 and 3 , the vacuum pump 34 communicates with a first space 56 (see FIG. 4B described later) of a first holder 40 and a second space 70 (see FIG. 4B described later) of a second holder 42 of the robot hand apparatus 8 via a pair of tubes 38 . The vacuum pump 34 sucks air from the first space 56 of the first holder 40 and the second space 70 of the second holder 42 individually via the tubes 38 on the basis of the pressure control signal from the integrated processor 28 .
  • the valve 36 is an on-off valve that opens the first space 56 of the first holder 40 and the second space 70 of the second holder 42 individually to the atmosphere, and is arranged at, for example, the vacuum pump 34 .
  • the valve 36 is opened and closed on the basis of the pressure control signal from the integrated processor 28 .
  • the vacuum pump 34 sucks air, for example, in a state in which the object 4 is in close contact with a first sucking surface 44 of the first holder 40 or a second sucking surface 46 of the second holder 42 (refer to FIG.
  • the pressures of the first space 56 of the first holder 40 and the second space 70 of the second holder 42 are individually reduced to be lower than the atmospheric pressure, and vacuum sucks the object 4 in close contact. Then, when the valve 36 is opened, the pressures of the first space 56 of the first holder 40 and the second space 70 of the second holder 42 are individually restored to the atmospheric pressure, and the vacuum suction of the object 4 is released.
  • FIG. 4A illustrates the first sucking surface 44 of the first holder 40 (the second sucking surface 46 of the second holder 42 ) of the robot hand apparatus 8 according to the first embodiment.
  • FIG. 4B is a cross-sectional view of the first holder 40 (second holder 42 ) of the robot hand apparatus 8 according to the first embodiment taken along line IVB-IVB of FIG. 4A .
  • FIG. 4C illustrates the first magnetic-field generator 54 of the first holder 40 (the second magnetic-field generator 68 of the second holder 42 ) of the robot hand apparatus 8 according to the first embodiment.
  • FIG. 5A schematically illustrates a first magnetic elastic body 50 according to the first embodiment in a state before a magnetic field is applied.
  • FIG. 5B schematically illustrates the first magnetic elastic body 50 according to the first embodiment in a state in which a magnetic field is applied.
  • FIG. 6A illustrates the first holder 40 according to the first embodiment in a state in which the first holder 40 is entirely hardened.
  • FIG. 6B illustrates the first holder 40 according to the first embodiment in a state in which the first holder 40 is partly hardened.
  • the robot hand apparatus 8 includes a hand supporter 39 (an example of supporter), the first holder 40 , and the second holder 42 .
  • the hand supporter 39 is a member that supports the first holder 40 and the second holder 42 .
  • the hand supporter 39 is mounted to the distal end (the hand mount 22 and the camera mount 24 ) of the robot arm apparatus 6 via the mounting flange 26 .
  • the first holder 40 and the second holder 42 each are a flexible finger that sucks the object 4 using negative pressure.
  • the first holder 40 extends long from a proximal end 40 a to a distal end 40 b .
  • the second holder 42 extends long from a proximal end 42 a to a distal end 42 b .
  • the proximal end 40 a of the first holder 40 and the proximal end 42 a of the second holder 42 are supported by the hand supporter 39 .
  • the first holder 40 and the second holder 42 respectively have the first sucking surface 44 and the second sucking surface 46 that suck the object 4 using negative pressure.
  • the first holder 40 and the second holder 42 are arranged such that the first sucking surface 44 opposes the second sucking surface 46 .
  • the first sucking surface 44 has first sucking holes 58
  • the second sucking surface 46 has second sucking holes 72 .
  • the first sucking surface 44 and the second sucking surface 46 may be in contact with each other, or a gap of, for example, about several millimeters may be formed between the first sucking surface 44 and the second sucking surface 46 .
  • the first holder 40 has a first elastic member 48 , a pair of first magnetic elastic bodies 50 , a first yoke 52 , and a first magnetic-field generator 54 .
  • the first elastic member 48 is formed of an elastic soft resin, for example, an elastomer such as silicone rubber.
  • the first elastic member 48 is a member serving as a base of the first holder 40 .
  • the first elastic member 48 extends long from a proximal end 48 a to a distal end 48 b .
  • the first space 56 which extends in the longitudinal direction (Z-axis direction) of the first elastic member 48 is formed in the first elastic member 48 .
  • the first sucking surface 44 is formed at a side surface of the first elastic member 48 .
  • the first sucking surface 44 is bendable in a mountain fold manner at any position in the longitudinal direction of the first elastic member 48 .
  • the first sucking surface 44 has the first sucking holes 58 which are circular in plan view and through which the first space 56 communicates with the outside.
  • the first sucking holes 58 are arranged in a staggered manner in the longitudinal direction of the first elastic member 48 .
  • the proximal end 48 a of the first elastic member 48 is supported by the hand supporter 39 . As illustrated in FIG. 4B , a connection hole 60 through which the first space 56 communicates with the outside is formed at the proximal end 48 a of the first elastic member 48 . An end of corresponding one of the tubes 38 is connected to the connection hole 60 .
  • the pair of first magnetic elastic bodies 50 are arranged to be in contact with a side surface of the first elastic member 48 on the side opposite to the first sucking surface 44 .
  • the pair of first magnetic elastic bodies 50 extend long in the longitudinal direction of the first elastic member 48 , and are arranged on both ends in the short side direction (Y-axis direction) of the first elastic member 48 .
  • the pair of first magnetic elastic bodies 50 each are formed of an elastic material in which magnetic particles are dispersed.
  • the elastic material is formed of a soft resin, for example, an elastomer such as silicone rubber, or a gel material.
  • the magnetic particles are powder of a ferromagnetic material or a high magnetic permeability material formed of, for example, iron, carbonyl iron, ferrite, or the like.
  • the pair of magnetic elastic bodies 50 thus formed each have a property that the coefficient of elasticity thereof is changed when a magnetic field (magnetic flux) is applied. The principle that the coefficient of elasticity of the first magnetic elastic body 50 is changed will be described later.
  • the first yoke 52 is arranged to oppose the side surface of the first elastic member 48 on the side opposite to the first sucking surface 44 .
  • the first yoke 52 is formed of a soft magnetic material of, for example, pure iron or low-carbon steel, and has a thin-plate shape.
  • the first yoke 52 has a long iron core 52 a , and a pair of connection portions 52 b and 52 c formed on both ends in the longitudinal direction (Z-axis direction) of the iron core 52 a and each have a substantially E-like shape.
  • the iron core 52 a is arranged between the pair of first magnetic elastic bodies 50 , and extends in the longitudinal direction of the first elastic member 48 .
  • the iron core 52 a is bendable in the longitudinal direction of the first elastic member 48 .
  • the pair of connection portions 52 b and 52 c are connected to both ends in the longitudinal direction (Z-axis direction) of the pair of first magnetic elastic bodies 50 .
  • the first magnetic-field generator 54 has coils 54 a , 54 b , 54 c , 54 d , 54 e , 54 f , 54 g , and 54 h ( 54 a to 54 h ) around the iron core 52 a of the first yoke 52 .
  • the coils 54 a to 54 h are lined in that order in the longitudinal direction of the first elastic member 48 .
  • the coils 54 a to 54 h are individually energized by the hand controller 32 .
  • the coils 54 a to 54 h individually generate magnetic fields, and individually apply magnetic fields to the pair of first magnetic elastic bodies 50 .
  • the pair of first magnetic elastic bodies 50 and the first yoke 52 form a magnetic circuit.
  • the first holder 40 may further have a protection cover (not illustrated) that covers the pair of first magnetic elastic bodies 50 , the first yoke 52 , and the first magnetic-field generator 54 .
  • the protection cover may be flexible, and may be formed of a low magnetic permeability material that does not magnetically affect the magnetic circuit.
  • the second holder 42 has a second elastic member 62 , a pair of second magnetic elastic bodies 64 , a second yoke 66 , and a second magnetic-field generator 68 , similarly to the first holder 40 .
  • the second elastic member 62 is configured similarly to the first elastic member 48 . That is, the second elastic member 62 extends long from a proximal end 62 a to a distal end 62 b . As illustrated in FIG. 4B , the second space 70 which extends in the longitudinal direction (Z-axis direction) of the second elastic member 62 is formed in the second elastic member 62 .
  • the second sucking surface 46 is formed at a side surface of the second elastic member 62 .
  • the second sucking surface 46 is bendable in a mountain fold manner at any position in the longitudinal direction of the second elastic member 62 .
  • the second sucking surface 46 has the second sucking holes 72 which are circular in plan view and through which the second space 70 communicates with the outside.
  • the proximal end 62 a of the second elastic member 62 is supported by the hand supporter 39 . As illustrated in FIG. 4B , a connection hole 74 through which the second space 70 communicates with the outside is formed at the proximal end 62 a of the second elastic member 62 . Corresponding one of ends of the tubes 38 is connected to the connection hole 74 .
  • the configurations of the pair of second magnetic elastic bodies 64 , the second yoke 66 , and the second magnetic-field generator 68 are the same as the configurations of the pair of first magnetic elastic bodies 50 , the first yoke 52 , and the first magnetic-field generator 54 , and hence the redundant description thereof is omitted.
  • the first magnetic elastic body 50 has an elastic material 50 a and magnetic particles 50 b dispersed in the elastic material 50 a.
  • the magnetic particles 50 b are oriented in irregular directions.
  • the magnetic particles 50 b are magnetically polarized, and magnetic coupling is formed among the polarized magnetic particles 50 b .
  • the magnetic particles 50 b are arrayed in a direction parallel to magnetic force lines 76 , the magnetic coupling force formed among the magnetic particles 50 b increases, and thus the first magnetic elastic body 50 has a strong structure.
  • the deformation resistance to a load increases and the coefficient of elasticity of the first magnetic elastic body 50 increases in the direction parallel to the magnetic force lines 76 . Also, the deformation resistance to a load increases and the coefficient of elasticity of the first magnetic elastic body 50 increases in the direction orthogonal to the magnetic force lines 76 .
  • the coefficient of elasticity of the first magnetic elastic body 50 can be changed. Moreover, the magnetic coupling force among the magnetic particles 50 b is changed in accordance with the strength of the magnetic field to be applied. Owing to this, the coefficient of elasticity of the first magnetic elastic body 50 is changed in accordance with the strength of the magnetic field to be applied.
  • the principle that the coefficient of elasticity of the second magnetic elastic body 64 is changed is similar to the above-described principle, and hence its description is omitted.
  • FIG. 6A illustrates the energized coil 54 g among the coils 54 a to 54 h
  • FIG. 6B illustrates the energized coils 54 e and 54 g among the coils 54 a to 54 h.
  • the coil 54 g among the coils 54 a to 54 h is energized by the hand controller 32 .
  • the coil 54 g among the coils 54 a to 54 h generates a magnetic field.
  • the magnetic permeability of the first yoke 52 is 1000 to 10000 times the magnetic permeability of air.
  • the magnetic field from the coil 54 g almost does not leak to the atmosphere, and is concentrated on the first yoke 52 .
  • the pair of magnetic elastic bodies 50 have high magnetic permeability because of the magnetic particles.
  • the magnetic field from the coil 54 g almost does not leak to the atmosphere, and is concentrated on the pair of first magnetic elastic bodies 50 . Consequently, as shown by broken-line arrows in FIG.
  • one magnetic circuit 78 is formed.
  • the magnetic field from the coil 54 g passes through the iron core 52 a and the connection portion 52 b of the first yoke 52 , the pair of first magnetic elastic bodies 50 , the connection portion 52 c , and the iron core 52 a in that order, and then returns to the coil 54 g .
  • the magnetic field from the coil 54 g is applied to the pair of magnetic elastic bodies 50 .
  • the magnetic field from the coil 54 g passes through each of the pair of first magnetic elastic bodies 50 from one end to the other end in the longitudinal direction thereof, and the coefficient of elasticity of each of the pair of magnetic elastic bodies 50 entirely increases. Consequently, a hardened portion 80 is formed in the entire region of each of the pair of magnetic elastic bodies 50 , and the first holder 40 is entirely hardened.
  • two specific coils for example, the coils 54 e and 54 g among the coils 54 a to 54 h are energized by the hand controller 32 .
  • the coils 54 e and 54 g when electric current is applied to the coil 54 e and the coil 54 g in the opposite directions, magnetic fields in which the same magnetic poles (for example, N-poles) oppose each other is generated.
  • the magnetic fields generated from the coil 54 e and the coil 54 g repel each other and leak to the atmosphere, immediately after generated.
  • the magnetic fields leaking to the atmosphere is concentrated on each of the pair of first magnetic elastic bodies 50 with high magnetic permeability.
  • two magnetic circuits 82 and 84 are formed.
  • the magnetic field from the coil 54 e passes through the iron core 52 a of the first yoke 52 , the pair of first magnetic elastic bodies 50 , the connection portion 52 b , and the iron core 52 a in that order, and then returns to the coil 54 e .
  • the magnetic field from the coil 54 e is applied to the pair of magnetic elastic bodies 50 in the magnetic circuit 82 .
  • the magnetic field from the coil 54 g passes through the iron core 52 a of the first yoke 52 , the pair of first magnetic elastic bodies 50 , the connection portion 52 c , and the iron core 52 a in that order, and then returns to the coil 54 g .
  • the magnetic field from the coil 54 g is applied to the pair of magnetic elastic bodies 50 in the magnetic circuit 84 .
  • the magnetic field from the coil 54 e passes through a region of each of the pair of first magnetic elastic bodies 50 on the side near the proximal end 40 a of the first holder 40 with respect to the coil 54 e .
  • the magnetic field from the coil 54 g passes through a region of each of the pair of first magnetic elastic bodies 50 on the side near the distal end 40 b of the first holder 40 with respect to the coil 54 g .
  • the coefficient of elasticity in the region where the magnetic field passes of each of the pair of first magnetic elastic bodies 50 is relatively big, and the coefficient of elasticity in a region where the magnetic field does not pass (that is, a region between the coil 54 e and the coil 54 g ) is relatively small.
  • a flexible portion 86 is formed in the region between the coil 54 e and the coil 54 g , and a hardened portion 80 with a bigger coefficient of elasticity than that of the flexible portion 86 is formed in the region other than the flexible portion 86 . That is, the first holder 40 is partly hardened.
  • the first sucking surface 44 of the first holder 40 can be easily bent at a position corresponding to the flexible portion 86 in the longitudinal direction of the first holder 40 .
  • the position of the flexible portion 86 can be appropriately changed by desirably selecting a combination of two specific coils to be energized from among the coils 54 a to 54 h . Operation of entirely or partly hardening the second holder 42 is similar to the above-described operation and hence its description is omitted.
  • FIG. 7 is a flowchart showing a flow of the operation of the robot hand system 2 according to the first embodiment.
  • FIG. 8 illustrates the flow of the operation of the robot hand system 2 according to the first embodiment.
  • the integrated processor 28 of the controller 14 judges the position of the object 4 to be conveyed on the basis of the image information from the fixed camera 12 (S 101 ). Then, the integrated processor 28 transmits the operation command signal to the robot controller 30 on the basis of the position of the object 4 .
  • the robot controller 30 controls the operation of the robot arm apparatus 6 on the basis of the operation command signal from the integrated processor 28 , to move the robot hand apparatus 8 to a position just above the upper surface of the object 4 (S 102 ). At this time, the robot hand apparatus 8 is held in a posture in which the longitudinal directions of the first holder 40 and the second holder 42 are substantially parallel to the vertical direction (Z-axis direction).
  • the integrated processor 28 judges a region 88 that can be sucked of an upper surface (an example of sucked surface) of the object 4 (hereinafter, referred to as “sucked region 88 ”) on the basis of the image information from the tip camera 10 (S 103 ), and determines the sucking positions of the first holder 40 and the second holder 42 in the sucked region 88 (S 104 ).
  • the integrated processor 28 transmits the operation command signal to the robot controller 30 on the basis of the determined sucking positions.
  • the robot controller 30 controls the operation of the robot arm apparatus 6 on the basis of the operation command signal from the integrated processor 28 .
  • the robot hand apparatus 8 is lowered, and the distal end 40 b of the first holder 40 and the distal end 42 b of the second holder 42 touch the sucked region 88 of the object 4 (S 105 ).
  • the integrated processor 28 determines the position of the flexible portion 86 in each of the pair of first magnetic elastic bodies 50 (the pair of second magnetic elastic bodies 64 ) on the basis of the size of the sucked region 88 (S 106 ), and transmits the energization control signal to the hand controller 32 .
  • the hand controller 32 energizes the first magnetic-field generator 54 and the second magnetic-field generator 68 of the robot hand apparatus 8 on the basis of the energization control signal from the integrated processor 28 .
  • the magnetic field from the first magnetic-field generator 54 is applied to the pair of first magnetic elastic bodies 50
  • the magnetic field from the second magnetic-field generator 68 is applied to the pair of second magnetic elastic bodies 64 (S 107 ).
  • S 107 For example, as illustrated in FIG.
  • the flexible portion 86 is formed in the region between the coil 54 e and the coil 54 g in each of the pair of first magnetic elastic bodies 50 (the pair of second magnetic elastic bodies 64 ).
  • the robot hand apparatus 8 is further lowered, and the distal end 40 b of the first holder 40 and the distal end 42 b of the second holder 42 are pressed to the sucked region 88 of the object 4 (S 108 ).
  • the first sucking surface 44 is bent at a first position 90 corresponding to the flexible portion 86
  • the second sucking surface 46 is bent at a second position 92 corresponding to the flexible portion 86 . Consequently, the distal end 40 b of the first holder 40 and the distal end 42 b of the second holder 42 move in a direction away from each other while sliding on the sucked region 88 of the object 4 .
  • the distal end 40 b of the first holder 40 and the distal end 42 b of the second holder 42 are further pressed to the sucked region 88 of the object 4 , and hence, as illustrated in FIG. 8( c ) , the first sucking surface 44 and the second sucking surface 46 are respectively bent at substantially right angle at the first position 90 and the second position 92 .
  • a region of the first sucking surface 44 between the first position 90 and the distal end 40 b of the first holder 40 touches the sucked region 88
  • a region of the second sucking surface 46 between the second position 92 and the distal end 42 b of the second holder 42 touches the sucked region 88 .
  • the positions of the flexible portions 86 are set such that the distal end 40 b of the first holder 40 and the distal end 42 b of the second holder 42 do not protrude from the ends of the sucked region 88 .
  • the integrated processor 28 transmits the pressure control signal to the pressure regulating device 16 on the basis of the image information from the tip camera 10 .
  • the vacuum pump 34 is driven in a state in which the valve 36 is closed, and air is sucked through the first sucking holes 58 of the first sucking surface 44 and the second sucking holes 72 of the second sucking surface 46 . Consequently, the region of the first sucking surface 44 between the first position 90 and the distal end 40 b of the first holder 40 sucks the sucked region 88 using negative pressure, and the region of the second sucking surface 46 between the second position 92 and the distal end 42 b of the second holder 42 sucks the sucked region 88 using negative pressure (S 109 ). In this way, the object 4 is held by the first holder 40 and the second holder 42 , and is picked up from the palette 18 .
  • the integrated processor 28 of the controller 14 judges the position of the conveyance destination (for example, storage shelf) of the object 4 on the basis of the image information from the fixed camera 12 (S 110 ). Then, the integrated processor 28 transmits the operation command signal to the robot controller 30 on the basis of the position of the conveyance destination of the object 4 .
  • the robot controller 30 controls the operation of the robot arm apparatus 6 on the basis of the operation command signal from the integrated processor 28 , to move the robot hand apparatus 8 to the conveyance destination in a state in which the object 4 is held by the first holder 40 and the second holder 42 .
  • the object 4 is conveyed to the conveyance destination (S 111 ).
  • the integrated processor 28 judges a region that can store the object 4 (hereinafter, referred to as “storage region”) at the conveyance destination on the basis of the image information from the tip camera 10 .
  • the integrated processor 28 transmits the pressure control signal to the pressure regulating device 16 when the integrated processor 28 judges that the object 4 has been stored in the storage region on the basis of the image information from the tip camera 10 .
  • the driving of the vacuum pump 34 is stopped, the valve 36 is opened, and the sucking of the object 4 to the first sucking surface 44 and the second sucking surface 46 is released (S 112 ).
  • the integrated processor 28 transmits the energization control signal to the hand controller 32 on the basis of the image information from the tip camera 10 .
  • the hand controller 32 stops the energization of the first magnetic-field generator 54 and the second magnetic-field generator 68 of the robot hand apparatus 8 on the basis of the energization control signal from the integrated processor 28 .
  • the application of the magnetic field to each of the pair of first magnetic elastic bodies 50 and the pair of second magnetic elastic bodies 64 is stopped (S 113 ).
  • the first sucking surface 44 and the second sucking surface 46 are restored from the state bent at the first position 90 and the second position 92 (the state illustrated in FIG. 8( c ) ) to the original straight state (the state illustrated in FIG. 8( a ) ) due to the elastic restoring force of the first elastic member 48 and the second elastic member 62 .
  • the first sucking surface 44 and the second sucking surface 46 can be easily respectively bent at the first position 90 and the second position 92 corresponding to the flexible portions 86 .
  • the sizes of the regions of the first sucking surface 44 and the second sucking surface 46 that suck the object 4 can be adjusted.
  • the distal end 40 b of the first holder 40 and the distal end 42 b of the second holder 42 can be prevented from protruding from the ends of the sucked region 88 of the object 4 .
  • a target object 4 can be correctly picked up from among densely arranged products 20 .
  • FIG. 9A illustrates use example 1 of the robot hand system 2 according to the first embodiment.
  • FIG. 9B illustrates use example 2 of the robot hand system 2 according to the first embodiment.
  • FIG. 9C illustrates use example 3 of the robot hand system 2 according to the first embodiment.
  • the first sucking surface 44 is bent at a first position 90 near the distal end 40 b of the first holder 40
  • the second sucking surface 46 is bent at a second position 92 near the distal end 42 b of the second holder 42 .
  • the posture of the robot hand apparatus 8 is tilted with respect to a sucked region 88 of an object 4 .
  • the angles at which the first sucking surface 44 and the second sucking surface 46 are bent can be desirably adjusted, the object 4 can be reliably sucked to the first sucking surface 44 and the second sucking surface 46 .
  • an object 4 can be reliably sucked.
  • the upper surface of an object 4 is not flat but has a mountain-like shape having two nonparallel surfaces.
  • the angles at which the first sucking surface 44 and the second sucking surface 46 are bent can be desirably adjusted, the object 4 can be reliably sucked to the first sucking surface 44 and the second sucking surface 46 .
  • an object 4 can be reliably sucked. This configuration is particularly useful, for example, when the portion that can suck an object 4 is limited because of an obstacle or the like.
  • FIG. 10 illustrates a first holder 40 A (second holder 42 A) of the robot hand apparatus 8 A according to the second embodiment.
  • FIG. 11A illustrates the first holder 40 A according to the second embodiment in a state in which the first holder 40 A is entirely hardened.
  • FIG. 11B illustrates the first holder 40 A according to the second embodiment in a state in which the first holder 40 A is partly hardened.
  • the same reference signs are applied to the same components as those of the first embodiment, and the redundant description thereof is omitted.
  • the configurations of a first magnetic-field generator 54 A of the first holder 40 A and a second magnetic-field generator 68 A of the second holder 42 A differ from those of the first embodiment.
  • the first magnetic-field generator 54 A has a permanent magnet 94 instead of the coil 54 h described in the first embodiment. That is, the first magnetic-field generator 54 A has the coils 54 a to 54 g , and the permanent magnet 94 .
  • the permanent magnet 94 is arranged to oppose the coils 54 a to 54 g in the longitudinal direction of the first holder 40 A.
  • the permanent magnet 94 is arranged, for example, such that the N-pole opposes the coils 54 a to 54 g.
  • FIGS. 11A and 11B Operation of entirely or partly hardening the first holder 40 A by changing the coefficient of elasticity of the first magnetic elastic body 50 is described with reference to FIGS. 11A and 11B .
  • FIG. 11A does not illustrate the coils 54 a to 54 g
  • FIG. 11B illustrates the energized coil 54 e among the coils 54 a to 54 g.
  • non of the coils 54 a to 54 g is energized by the hand controller 32 (see FIG. 1 ).
  • the permanent magnet 94 generates a magnetic field.
  • the magnetic field from the permanent magnet 94 almost does not leak to the atmosphere, and is concentrated on the first yoke 52 and the pair of first magnetic elastic bodies 50 . Consequently, as shown by broken-line arrows in FIG. 11A , one magnetic circuit 96 is formed.
  • the magnetic field from the permanent magnet 94 passes through the iron core 52 a and the connection portion 52 b of the first yoke 52 , the pair of first magnetic elastic bodies 50 , the connection portion 52 c , and the iron core 52 a in that order, and then returns to the permanent magnet 94 .
  • the magnetic field from the permanent magnet 94 is applied to the pair of magnetic elastic bodies 50 .
  • the magnetic field from the permanent magnet 94 passes through each of the pair of first magnetic elastic bodies 50 from one end to the other end in the longitudinal direction thereof, and the coefficient of elasticity of each of the pair of magnetic elastic bodies 50 entirely increases. Consequently, a hardened portion 80 is formed in the entire region of each of the pair of magnetic elastic bodies 50 , and the first holder 40 A is entirely hardened.
  • one specific coil for example, the coil 54 e among the coils 54 a to 54 g is energized by the hand controller 32 .
  • the coil 54 e and the permanent magnet 94 generate magnetic fields such that the same magnetic poles (for example, N-poles) oppose each other.
  • the magnetic fields generated from the coil 54 e and the permanent magnet 94 repel each other and leak to the atmosphere, immediately after generated.
  • the magnetic fields leaking to the atmosphere are concentrated on the pair of first magnetic elastic bodies 50 with high magnetic permeability.
  • two magnetic circuits 98 and 100 are formed.
  • the magnetic field from the coil 54 e passes through the iron core 52 a of the first yoke 52 , the pair of first magnetic elastic bodies 50 , the connection portion 52 b , and the iron core 52 a in that order, and then returns to the coil 54 e .
  • the magnetic field from the coil 54 e is applied to the pair of magnetic elastic bodies 50 in the magnetic circuit 98 .
  • the magnetic field from the permanent magnet 94 passes through the iron core 52 a of the first yoke 52 , the pair of first magnetic elastic bodies 50 , the connection portion 52 c , and the iron core 52 a in that order, and then returns to the permanent magnet 94 .
  • the magnetic field from the permanent magnet 94 is applied to the pair of magnetic elastic bodies 50 in the magnetic circuit 100 .
  • the magnetic field from the coil 54 e passes through a region of each of the pair of first magnetic elastic bodies 50 on the side near the proximal end 40 a of the first holder 40 A with respect to the coil 54 e .
  • the magnetic field from the permanent magnet 94 passes through a region of each of the pair of first magnetic elastic bodies 50 on the side near the distal end 40 b of the first holder 40 A with respect to the permanent magnet 94 .
  • the coefficient of elasticity in the region where the magnetic field passes of the pair of first magnetic elastic bodies 50 is relatively big, and the coefficient of elasticity in a region where the magnetic field does not pass (that is, a region between the coil 54 e and the permanent magnet 94 ) is relatively small.
  • a flexible portion 86 is formed in the region between the coil 54 e and the permanent magnet 94 , and a hardened portion 80 with a bigger coefficient of elasticity than that of the flexible portion 86 is formed in the region other than the flexible portion 86 . That is, the first holder 40 A is partly hardened.
  • the first sucking surface 44 (see FIG. 3 ) of the first holder 40 A can be easily bent at a position corresponding to the flexible portion 86 in the longitudinal direction of the first holder 40 A, similarly to the first embodiment.
  • the position of the flexible portion 86 can be appropriately changed by desirably selecting one specific coil to be energized from among the coils 54 a to 54 g . Operation of entirely or partly hardening the second holder 42 A is similar to the above-described operation and hence its description is omitted.
  • the position of the flexible portion 86 is adjusted by selecting the coil to be energized; however, the position of the flexible portion 86 may be adjusted in accordance with the amount of current to be applied to a coil.
  • a magnetic-field generator is arranged at each of the distal end 40 b and the proximal end 40 a of the first holder 40 ( 40 A) and magnetic fields are generated such that the same magnetic poles oppose each other.
  • the position at which the flexible portion 86 is formed can be adjusted by adjusting the strength of the magnetic field generated at the proximal end 40 a (and the distal end 40 b ) of the first holder 40 ( 40 A).
  • FIG. 12 illustrates the robot hand apparatus 8 B according to the third embodiment.
  • the configuration of the robot hand apparatus 8 B differs from that of the first embodiment.
  • the robot hand apparatus 8 B has a driving mechanism 102 that changes the distance between the first holder 40 and the second holder 42 .
  • the driving mechanism 102 is supported by a hand supporter 39 B.
  • the driving mechanism 102 has a rotary actuator 104 and a parallel linkage 106 .
  • the rotary actuator 104 drives the parallel linkage 106 on the basis of the driving signal from the hand controller 32 (see FIG. 1 ).
  • the parallel linkage 106 When the parallel linkage 106 is driven by the rotary actuator 104 , the parallel linkage 106 translates the first holder 40 and the second holder 42 in a direction (X-axis direction) toward or away from each other.
  • the distance between the first holder 40 and the second holder 42 can be decreased or increased.
  • the proximal end 40 a of the first holder 40 and the proximal end 42 a of the second holder 42 are supported by the hand supporter 39 B via the parallel linkage 106 .
  • the vacuum pump 34 (see FIG. 1 ) is formed of a blower-type vacuum pump (vacuum blower) that can suck an object with high flow rate even when air is leaking. That is, the object 4 can be sucked even when not all the first sucking holes 58 and the second sucking holes 72 (see FIG. 4A ) are closed.
  • a blower-type vacuum pump vacuum blower
  • FIG. 13 is a flowchart showing a flow of the operation of picking up the object 4 by the robot hand system 2 B according to the third embodiment.
  • FIG. 14 is a timing chart showing the flow of the operation of picking up the object 4 by the robot hand system 2 B according to the third embodiment.
  • FIG. 15 illustrates the flow of the operation of picking up the object 4 by the robot hand system 2 B according to the third embodiment.
  • products 20 are stored in a package box 108 arranged in, for example, a warehouse of a store, in a stacked manner in the up-down direction (Z-axis direction).
  • the object 4 is a product 20 which is a target to be picked up by the robot hand system 2 B from among the products 20 , and is, for example, a product 20 which is arranged on the top.
  • steps S 201 to S 204 are executed similarly to steps S 101 to S 104 described in the first embodiment.
  • step S 202 as illustrated in FIG. 15( a ) , the robot hand apparatus 8 B is in a posture in which the longitudinal directions of the first holder 40 and the second holder 42 are tilted with respect to the vertical direction (Z-axis direction).
  • the robot hand apparatus 8 B is lowered, and the distal end 40 b of the first holder 40 touches a sucked region 110 of the upper surface (an example of sucked surface) of the object 4 (S 205 ).
  • the integrated processor 28 of the controller 14 determines the position of the flexible portion 86 (see FIG. 6B ) in each of the pair of first magnetic elastic bodies 50 (see FIG. 4C ) on the basis of the size of the sucked region 110 (S 206 ), and transmits the energization control signal to the hand controller 32 .
  • the hand controller 32 energizes the first magnetic-field generator 54 (see FIG.
  • the magnetic field from the first magnetic-field generator 54 is applied to the pair of first magnetic elastic bodies 50 (S 207 ), and the flexible portion 86 is formed in each of the pair of first magnetic elastic bodies 50 . That is, the first holder 40 is partly hardened.
  • the robot hand apparatus 8 B is further lowered, and the distal end 40 b of the first holder 40 is pressed to the sucked region 110 of the object 4 (S 208 ).
  • the first sucking surface 44 is bent at a first position 112 corresponding to the flexible portion 86 .
  • a region of the first sucking surface 44 between the first position 112 and the distal end 40 b of the first holder 40 touches the sucked region 110 .
  • the second holder 42 is moved to a position so as not to interfere with the operation of the robot hand apparatus 8 B. If the distal end 42 b of the second holder 42 interferes with an inner wall surface or the like of the package box 108 , the second holder 42 may be bent by pressing a side surface of the second holder 42 on the side opposite to the second sucking surface 46 , to the inner wall surface or the like of the package box 108 .
  • the integrated processor 28 transmits the pressure control signal to the pressure regulating device 16 (see FIG. 1 ) on the basis of the image information from the tip camera 10 (see FIG. 1 ).
  • the vacuum pump 34 is driven in the state in which the valve 36 is closed, and air of the first space 56 (see FIG. 4B ) of the first holder 40 is sucked with high flow rate. Consequently, the sucked region 110 is sucked to a region of the first sucking surface 44 between the first position 112 and the distal end 40 b of the first holder 40 using negative pressure at time t 2 in FIG. 14 (S 209 ).
  • the hand controller 32 stops the energization of the first magnetic-field generator 54 of the robot hand apparatus 8 B on the basis of the energization control signal from the integrated processor 28 .
  • the application of the magnetic field to each of the pair of first magnetic elastic bodies 50 is stopped at time t 2 in FIG. 14 (S 210 ).
  • the integrated processor 28 transmits the driving signal to the robot hand apparatus 8 B, and transmits the operation command signal to the robot controller 30 .
  • the distance between the first holder 40 and the second holder 42 starts increasing, and the robot hand apparatus 8 B starts rising at time t 3 in FIG. 14 (S 211 ). Consequently, the first sucking surface 44 bent at the first position 112 extends straight due to the elastic restoring force of the first elastic member 48 (see FIG. 4A ) in the state in which the object 4 is sucked to the first sucking surface 44 of the first holder 40 (S 212 ).
  • the region of the first sucking surface 44 between the first position 112 and the distal end 40 b of the first holder 40 is vertically inverted, and hence the object 4 can be vertically inverted.
  • the hand controller 32 energizes the first magnetic-field generator 54 and the second magnetic-field generator 68 (see FIG. 4C ) of the robot hand apparatus 8 B on the basis of the energization control signal from the integrated processor 28 .
  • the magnetic field from the first magnetic-field generator 54 is applied to the pair of first magnetic elastic bodies 50
  • the magnetic field from the second magnetic-field generator 68 is applied to the pair of second magnetic elastic bodies 64 at time t 4 in FIG. 14 (S 213 ). That is, the first holder 40 and the second holder 42 are entirely hardened.
  • the integrated processor 28 transmits the driving signal to the hand controller 32 .
  • the distance between the first holder 40 and the second holder 42 starts decreasing, and the object 4 is sandwiched between the first holder 40 and the second holder 42 at time t 5 in FIG. 14 (S 214 ).
  • the robot hand apparatus 8 B is continuously rising.
  • the integrated processor 28 transmits the pressure control signal to the pressure regulating device 16 on the basis of the image information from the tip camera 10 .
  • the vacuum pump 34 is driven in the state in which the valve 36 is closed, and air of the second space 70 (see FIG. 4B ) of the second holder 42 is sucked with high flow rate. Consequently, the object 4 is sucked to the second sucking surface 46 of the second holder 42 using negative pressure at time t 6 in FIG. 14 (S 215 ).
  • the object 4 is picked up from the package box 108 by the robot hand system 2 B in this way.
  • the object 4 can be sucked to the first sucking surface 44 using negative pressure and picked up in the state in which the first sucking surface 44 is bent at any position.
  • the object 4 can be easily picked up by appropriately bending the first sucking surface 44 in accordance with the size or shape of the space, while the robot hand apparatus 8 B is prevented from interfering with the package box 108 or the like.
  • the object 4 can be sandwiched between the first holder 40 and the second holder 42 .
  • the object 4 can be conveyed while the object 4 is reliably held.
  • robot hand apparatus includes the two holders in any of the above-described embodiments, it is not limited thereto, and the robot hand apparatus may include one, or three or more holders.
  • each component may be formed of dedicated hardware or may be provided by executing a software program suitable for the component.
  • Each component may be provided by a program executing unit, such as a central processing unit (CPU) or a processor, reading a software program stored in a storage medium, such as a hard disk or a semiconductor memory.
  • a program executing unit such as a central processing unit (CPU) or a processor, reading a software program stored in a storage medium, such as a hard disk or a semiconductor memory.
  • the components constituting each of the above-described apparatuses and devices may be partly or entirely formed of an integrated circuit (IC) card or a single module that is removably attached to the apparatus or device.
  • the IC card or the module is a computer system formed of a microprocessor, a read-only memory (ROM), a random-access memory (RAM), or the like.
  • the IC card or the module may include a super multi-functional large scale integrated (LSI) circuit.
  • the microprocessor operates in accordance with the computer program and thus the IC card or the module provides the function.
  • the IC card or the module may be tamper resistant.
  • the present disclosure may be a method as one described above.
  • the method may be provided by a computer program executed by a computer, or may be a digital signal composed of the computer program.
  • the present disclosure may be a computer-readable storage medium storing the computer program or the digital signal.
  • the storage medium is, for example, a flexible disk, a hard disk, a CD-ROM, a magneto-optical (MO) disk, a digital versatile disk (DVD), a DVD-ROM, a DVD-RAM, Blu-ray (BD) Disc (registered trademark), or a semiconductor memory.
  • the present disclosure may be the digital signal stored in such a storage medium.
  • the computer program or the digital signal may be transmitted via an electric communication line, a wireless or wired communication line, a network typically represented by the Internet, or data broadcasting.
  • the present disclosure may be a computer system including a microprocessor and a memory, the memory may store the computer program, and the microprocessor may be operated in accordance with the computer program.
  • the present disclosure may be implemented by another independent computer system by storing the program or the digital signal in the non-transitory computer-readable storage medium and transferring the storage medium, or by transferring the program or the digital signal via the network or the like.
  • the robot hand apparatus according to the present disclosure is useful for a robot hand system that picks up, for example, a product in a warehouse of a store.

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JP7162235B2 (ja) 2022-10-28

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